robot
07d95792e3
Drop-in replacement for the Nuwa-HP60C camera container, exposing RGB +
aligned depth + intrinsics via REST/WebSocket so the existing
pestello-pose-detector pipeline can consume frames without changes.
Key adaptations for D4xx on USB 2.0 (this robot has no USB 3 port exposed
externally — see STATUS.md):
- pyrealsense2 built from source; the librealsense v2.55.1 install rule
doesn't ship the main .so, so we copy it from the build dir and add an
__init__.py that re-exports the submodule.
- Color stream uses YUYV format on USB 2.x (BGR8/RGB8 time out on this
bus); converted to BGR via cv2.cvtColor in capture().
- rs.align is skipped on USB 2 (incompatible with YUYV); color is
cv2-resized to depth shape for approximate per-pixel alignment.
- Driver auto-detects usb_type_descriptor and falls back to the
full-resolution BGR8 + rs.align pipeline when on USB 3.
Tested: /api/{health,status,discover,rgb,depth,depth/color,capture,
intrinsics} all return 200 with valid payloads at 640x480.
30 lines
707 B
TOML
30 lines
707 B
TOML
[project]
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name = "realsense-d435"
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version = "1.0.0"
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description = "REST API + WebSocket server for Intel RealSense D4xx depth camera (pyrealsense2)"
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requires-python = ">=3.10"
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dependencies = [
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"fastapi>=0.115",
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"uvicorn[standard]>=0.34",
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"pydantic>=2.0",
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"pydantic-settings>=2.0",
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"python-dotenv>=1.0",
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"nats-py>=2.9",
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"numpy>=1.24,<2",
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"opencv-python-headless>=4.8.0",
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]
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[project.optional-dependencies]
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dev = [
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"pytest>=8.0",
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"pytest-asyncio>=0.24",
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"httpx>=0.27",
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]
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yolo = [
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"onnxruntime>=1.16",
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]
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[project.scripts]
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start = "uvicorn src.backend.main:app --host 0.0.0.0 --port 8878"
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dev = "uvicorn src.backend.main:app --reload --host 0.0.0.0 --port 8878"
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